CN114116949A - Intersection fitting graph, intersection fitting guide graph compiling method, device and storage medium - Google Patents
Intersection fitting graph, intersection fitting guide graph compiling method, device and storage medium Download PDFInfo
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Abstract
The invention discloses a method and a device for compiling a road junction fitting guide map and a storage medium. The invention provides a method for compiling a fitting graph of an intersection, which comprises the steps of calling road network data; removing the interference roads in the road network data according to an intersection fitting strategy, and simplifying the intersection condition; and generating an intersection fitting graph according to the simplified intersection condition fitting, wherein the intersection comprises an entrance edge and an exit edge of the intersection. The method has high efficiency and coverage rate of generating the intersection fitting graph, the presented intersection fitting graph is basically consistent with the intersection, but the intersection form can remove the interference road according to the strategy, so the method has certain simplification and easier understanding to the intersection, and a driver can quickly determine the road section to be taken so as to avoid walking by mistake.
Description
Technical Field
The invention relates to the field of road traffic, in particular to a method and a device for compiling a road junction fitting guide map and a storage medium.
Background
With the rapid development of road traffic systems, the mileage and coverage of road networks are higher and higher, and particularly in cities, roads are denser and more complex. Drivers desire timely and accurate guidance during the use of navigation software, particularly when faced with more complex intersections. In this case, as shown in fig. 1, a guidance system based on steering is created. In the prior art, only a voice and steering guiding mode is adopted, so that a driver cannot quickly determine a road section to be traveled and easily walks by mistake.
Disclosure of Invention
The invention mainly solves the technical problem that a guidance mode based on steering in road navigation cannot enable a driver to quickly determine a road section where the driver walks.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is a crossing fitting graph compiling method, which comprises the following steps:
calling road network data;
removing the interference roads in the road network data according to an intersection fitting strategy, and simplifying the intersection condition;
and generating an intersection fitting graph according to the simplified intersection condition fitting, wherein the intersection comprises an entrance edge and an exit edge of the intersection.
The step of removing the interfering roads in the road network data according to the intersection fitting strategy and simplifying the intersection conditions specifically comprises the following steps:
according to the type of the intersection, the intersection is classified into a simple intersection and a special intersection, wherein the special intersection comprises a composite intersection, a roundabout and a semi-roundabout;
and fitting the special intersections into simple intersections according to intersection fitting strategies.
Wherein the intersection fitting strategy comprises:
sequentially connecting roads in the intersection and intersection outgoing roads according to the direction and connectivity of the roads, and combining the roads and the intersection outgoing roads into an outgoing road sequence;
the intersection uses the end point of the incoming road sequence as the intersection end point.
Wherein the intersection fitting strategy further comprises:
merging the road in the front and the road in the back by adopting a merging strategy until meeting the next and the last intersections, and collecting the complete topological data source at the intersections;
merging the roads with the same direction, similar attributes, the same name and the same lane number according to the connectivity of the roads, and merging the roads into a road sequence which is an outgoing sequence or an incoming sequence; and for the condition that the outgoing road is a shorter path, supplementing the road data source of the next intersection at the outgoing position to enter, and combining the data sources of the cost intersections.
Wherein the step of generating the intersection fitting graph according to the simplified intersection condition fitting specifically comprises:
marking roads with different thicknesses according to road grade, road attribute and lane number conditions contained in simplified intersection conditions, generating a planar base map in the intersection according to the intersection coverage area and external shape points, and taking the planar base map as an intersection fitting map.
Wherein the road network data comprises at least two of a topological relation, road properties, road morphology, road class, number of lanes and road height of the road network.
In order to solve the above problems, another technical solution adopted by the present invention is: the method for compiling the intersection fitting guide map comprises the following steps:
generating a crossing fitting graph according to the method;
adjusting the entering edge to be a forward direction according to the combination of the entering edge and the exiting edge of the intersection, wherein the intersection fitting graph is the forward direction from the bottom of the entering edge road to the road driving direction;
respectively plotting out side guide routes to generate an in-out intersection fitting guide map.
Wherein the method further comprises: the intersection fitting guide map is generated through data preprocessing under the online condition.
In order to solve the above problems, another technical solution adopted by the present invention is: the intersection fitting guide map compiling device comprises a processor and a memory coupled with the processor, wherein the memory is stored with a computer program, and the processor is used for executing the computer program to realize the intersection fitting guide map compiling method.
In order to solve the above problems, another technical solution adopted by the present invention is: there is provided a computer-readable storage medium having stored therein program data for implementing the intersection fitting guide map preparation method described above when executed by a processor.
The invention has the beneficial effects that: different from the situation of the prior art, the invention provides a crossing fitting graph compiling method, which comprises the steps of calling road network data; removing the interference roads in the road network data according to an intersection fitting strategy, and simplifying the intersection condition; and generating an intersection fitting graph according to the simplified intersection condition fitting, wherein the intersection comprises an entrance edge and an exit edge of the intersection. The method has high efficiency and coverage rate of generating the intersection fitting graph, the presented intersection fitting graph is basically consistent with the intersection, but the intersection form can remove the interference road according to the strategy, so the method has certain simplification and easier understanding to the intersection, and a driver can quickly determine the road section to be taken so as to avoid walking by mistake.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a diagram of an intersection-based turn-to-turn guidance provided in the background of the invention;
FIG. 2 is a crossing map drawing diagram of an embodiment of a crossing fitting guide map compilation method provided by the present invention;
FIG. 3 is a diagram of an intersection live-action of an embodiment of a method for compiling an intersection fitting guide diagram according to the present invention;
FIG. 4 is a flowchart of an embodiment of a method for compiling a junction fitting guide map provided by the present invention;
fig. 5 is a schematic diagram of an edge-out, edge-in and intersection end points of an intersection fitting graph compiling method according to an embodiment of the intersection fitting guide graph compiling method provided by the invention;
FIG. 6 is a schematic diagram of a short path continuing merging from a lower-level intersection to a current-level intersection according to the intersection fitting graph compiling method provided by the present invention;
FIG. 7 is a cross fit guidance diagram of the cross fit guidance diagram compiling method provided by the present invention;
FIG. 8a and FIG. 8b are flow charts of a method for compiling a crossing fitting guide map provided by the present invention;
FIG. 9, FIG. 10 and FIG. 11 are the same intersection mapping chart, live view chart and intersection fitting guide chart, respectively;
FIG. 12 is a block diagram of an embodiment of an intersection fitting guide map creating device provided by the present invention;
FIG. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It is further noted that, for the sake of convenience, the drawings show only some, but not all, of the methods and processes associated with the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprising" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In the related art, a common technical scheme is to add a drawn intersection map (as shown in fig. 2) or an intersection live-action map (as shown in fig. 3) as an intersection guide map, but both maps are manually drawn maps, so that the coverage of an intersection cannot be completely covered, the workload is large, after a road is reconstructed, the intersection map and related data need to be updated for a certain time to be applied to a driver end of navigation software, and the timeliness is poor.
Referring to fig. 4, fig. 4 is a flowchart of an embodiment of a method for compiling a crossing fitting graph provided by the present invention.
The method for compiling the intersection fitting graph comprises the following steps,
and step 30, generating an intersection fitting graph according to the simplified intersection condition fitting, wherein the intersection comprises an entrance edge and an exit edge of the intersection.
In some embodiments, the intersections are classified into simple intersections and special intersections according to the types of the intersections, and the special intersections include composite intersections, roundabouts and semiroundabouts;
and fitting the special intersections into simple intersections according to intersection fitting strategies.
Further, the intersection fitting strategy comprises:
sequentially connecting roads in the intersection and intersection outgoing roads according to the direction and connectivity of the roads, and combining the roads and the intersection outgoing roads into an outgoing road sequence;
the intersection uses the end point of the incoming road sequence as the intersection end point. Fig. 5 is a schematic diagram of an edge exit, an edge entry, and an intersection end point of the intersection fitting graph compiling method according to the embodiment of the present invention. Fig. 5 includes an entering-side road sequence 1, an entering-side end point as an end point 2 of the intersection, and an exiting-side road sequence 3.
Specifically, forward and backward road merging is respectively performed on an incoming road and an outgoing road of the intersection until the next intersection and the previous intersection are met, and a complete topological data source at the intersection is collected. The same merging strategy is adopted for merging the forward road and the backward road, the roads with the same direction, similar attributes, the same name and the same lane number are merged in sequence according to the connectivity of the roads, and the roads are merged into a road sequence, wherein the sequence is an edge-out sequence or an edge-in sequence. And for the condition that the outgoing road is a shorter path, supplementing the road data source of the next intersection at the outgoing position to enter, and combining the data sources of the cost intersections. As shown in fig. 6, a schematic diagram of continuously merging a lower-level intersection to a current-level intersection for a short path of the intersection fitting graph compiling method according to the embodiment of the present invention is shown. Fig. 6 illustrates a primary intersection 11: there are two outgoing edges, straight going and turning around, the outgoing edge of straight going is a short path, fig. 6 also shows that the secondary crossing is a roundabout 22, and there are multiple outgoing edges. And taking all roads inquired in the step as road data sources, and generating a complete intersection map by using a fitting strategy.
Furthermore, the embodiment of the invention also provides a crossing fitting guide map compiling method. When an intersection fitting guide map is compiled, roads are marked into roads with different thicknesses according to conditions such as road grades, road attributes and lane quantity on the aspect of display style, and a planar base map is generated inside an intersection according to intersection coverage area and external shape points. Finally, according to the combination of the incoming edge and the outgoing edge of the intersection, the incoming edge is adjusted to be forward (the direction from the bottom of the picture to the top is forward), and edge guide routes are respectively plotted to generate an incoming-outgoing intersection guide map, as shown in fig. 7, the intersection fitting guide map of the intersection fitting guide map compiling method according to the embodiment of the invention.
Compared with the turning type and the voice prompt mode in the background technology, the guidance information expressed by the intersection fitting guidance diagram is richer and more definite. Compared with a drawn intersection map or an intersection live-action map, the intersection fitting guide map compiling method has the advantages that the efficiency and the coverage rate of the generated intersection are high, the presented intersection fitting map is basically consistent with the intersection, but the intersection form can remove the interference road according to the strategy, so that the intersection is simplified to a certain extent and is easier to understand. The method can be automatically generated in the process of accurate data compilation based on the latest road network data, and has high timeliness.
The invention provides a generation strategy of a complex intersection guide graph, and the intersection graph which is accurate and strong in timeliness is generated based on the strategy. The method can be used for navigation of navigation software driver end apps, and can also assist in identifying the intersection steering model, so that the accuracy of steering broadcast is improved. Based on the data of the road network, the display form of the intersection and the guide path of the exit of the intersection are comprehensively decided according to the topological relation, the road form, the grade, the number of lanes, the height and other information of the road network, and the intersection pictures are automatically generated in batches. The intersection can be fully covered, and the timeliness is strong due to the fact that the intersection is generated based on the latest road network data.
Fig. 8a and 8b are flow charts of a crossing fitting guide graph compiling method provided by the invention. Specifically, the "simple intersection" in the last frame of fig. 8a is followed by the "intersection map generation" in the first line frame of fig. 8 b. With reference to fig. 8a and 8b, it is first determined whether the road forward end point of the incoming road is an intersection, and if so, the type of the intersection is determined. If not, the road is merged forward. The forward merging road strategy is to take the road as the path of the entering edge, merge the road into the path sequence of the entering edge, and update the next road into the entering edge road. And continuously judging whether the road forward end point of the side road is the intersection or not to form a closed loop.
If the road forward end point is the intersection, judging the type of the intersection:
no connecting road exists in the intersection, and the simple road is connected between the entrance edge and the exit edge at the intersection end point;
the attribute of the road in the intersection is a roundabout which is defined as the roundabout;
the attribute of the road in the road junction is a rotary island, but the road cannot be closed into a ring, and the rotary island is defined as a semirotary island;
crossing connection roads are arranged in the road ports, generally are cross roads of upper and lower line separation roads and are composite intersections.
And (4) carrying out intersection fitting on the roundabout, the peninsula and the composite intersection to obtain the simple intersection. The intersection fitting strategy is to merge the roads and intersections in the intersection into an intersection road sequence according to the direction and connectivity of the roads, and the end points of the intersection start the end points of the intersection road sequence. And generating an intersection fitting graph according to the simple intersection and the intersections fitted by the roundabout, the peninsula hemicycle and the composite intersection.
On the basis of the intersection fitting graph, combining the intersection entrance side and exit side road base maps, the guide path and the intersection internal base map, combining to generate an intersection guide map, and rotating the map to the entrance side road to enable the bottom of the entrance side road to face the road driving direction to be the forward direction.
Specifically, generating a road base map of the road junction at the entrance side and the exit side, and using a road junction connection strategy: points in the intersection entering sequence and a plurality of exiting sequence roads are used as shape points for road drawing, the width coefficient of the road is determined according to the information such as the attribute, the registration, the number of lanes, the form and the like of the road, the road with the corresponding width is drawn, and the road is kept as an intersection entering and exiting road map.
Specifically, the guidance path, using a guidance path policy: and matching the outgoing edge and the incoming edge to generate a guide route and an arrow in the road junction.
Specifically, the internal map of the intersection is used for generating a strategy: and (3) enclosing the roads in the intersection to form an intersection polygon, deciding a road width coefficient according to information such as road attributes, grades, lane number, form and the like, drawing the intersection polygon with corresponding width sides, and keeping the polygon as an inside (filling) base map of the intersection.
And finally, saving the map to generate an intersection fitting guide map.
The embodiment of the invention can be implemented by adopting an offline data preprocessing scheme, and the intersection fitting graph and the intersection fitting guide graph are compiled during offline data preprocessing. The detailed steps are referred to the algorithm logic and the flow chart given in the above embodiment.
The inventor obtains a drawing picture (fig. 9), a live-action picture (fig. 10) and an intersection fitting guide picture (fig. 11) at the same intersection through practice, and compared with the drawing picture, the intersection fitting guide picture compiled by the intersection fitting guide picture compiling method of the embodiment of the invention has high fitting degree with the actual situation of the intersection, and the intersection picture marking a complete intersection guide path is clearer than the guide mode of voice and steering prompt in the prior art. The intersection fitting guide map can be automatically generated, and compared with a drawing map and a live-action map in the related art, the two maps are both artificial drawing maps. The intersection fitting guide map can achieve full coverage on the coverage of the intersection, and the workload is small. Compared with the drawing and live-action drawing mode, the method needs less time to update the intersection map and related data after the road is reconstructed, can be quickly applied to a driver end of navigation software, and has good timeliness. And an offline data preprocessing mode can be adopted, so that the compiling efficiency of the intersection fitting graph and the intersection fitting guide graph is improved.
According to the above embodiment, the present invention provides a crossing fitting guide map compiling device. Specifically, referring to fig. 12, fig. 12 is a schematic structural diagram of an embodiment of the crossing fitting guide map compiling device provided by the present invention.
The intersection fitting guidance map preparation apparatus 100 includes a processor 110 and a memory 120. Wherein the processor 110 and the memory 120 are coupled. The memory 120 stores therein a computer program for executing the intersection fitting guide map preparation method described above.
Referring to fig. 13 in particular, fig. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present invention.
Different from the situation of the prior art, the invention provides a crossing fitting guide map compiling method.
Compared with the turning type and the voice prompt mode in the background technology, the guidance information expressed by the intersection fitting guidance diagram is richer and more definite. Compared with a drawn intersection map or an intersection live-action map, the intersection fitting guide map compiling method has the advantages that the efficiency and the coverage rate of the generated intersection are high, the presented intersection fitting map is basically consistent with the intersection, but the intersection form can remove the interference road according to the strategy, so that the intersection is simplified to a certain extent and is easier to understand.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The intersection fitting graph compiling method is characterized by comprising the following steps of:
calling road network data;
removing the interference roads in the road network data according to an intersection fitting strategy, and simplifying the intersection condition;
and generating an intersection fitting graph according to the simplified intersection condition fitting, wherein the intersection comprises an entrance edge and an exit edge of the intersection.
2. The method of claim 1,
the step of removing the interfering roads in the road network data according to the intersection fitting strategy and simplifying the intersection conditions specifically comprises the following steps:
according to the type of the intersection, the intersection is classified into a simple intersection and a special intersection, wherein the special intersection comprises a composite intersection, a roundabout and a semi-roundabout;
and fitting the special intersections into simple intersections according to intersection fitting strategies.
3. The method of claim 2,
the intersection fitting strategy comprises the following steps:
sequentially connecting roads in the intersection and intersection outgoing roads according to the direction and connectivity of the roads, and combining the roads and the intersection outgoing roads into an outgoing road sequence;
the intersection uses the end point of the incoming road sequence as the intersection end point.
4. The method of claim 3,
the intersection fitting strategy further comprises:
merging the road in the front and the road in the back by adopting a merging strategy until meeting the next and the last intersections, and collecting the complete topological data source at the intersections;
merging the roads with the same direction, similar attributes, the same name and the same lane number according to the connectivity of the roads, and merging the roads into a road sequence which is an outgoing sequence or an incoming sequence; and for the condition that the outgoing road is a shorter path, supplementing the road data source of the next intersection at the outgoing position to enter, and combining the data sources of the cost intersections.
5. The method according to any one of claims 1 to 4,
the step of generating the intersection fitting graph according to the simplified intersection condition fitting specifically comprises the following steps:
marking roads with different thicknesses according to road grade, road attribute and lane number conditions contained in simplified intersection conditions, generating a planar base map in the intersection according to the intersection coverage area and external shape points, and taking the planar base map as an intersection fitting map.
6. The method of claim 5,
the road network data comprises at least two of a topological relation, road properties, road morphology, road class, number of lanes and road height of the road network.
7. The intersection fitting guide map compiling method is characterized by comprising the following steps of:
generating an intersection fit map according to the method of any one of claims 1-6;
adjusting the entering edge to be a forward direction according to the combination of the entering edge and the exiting edge of the intersection, wherein the intersection fitting graph is the forward direction from the bottom of the entering edge road to the road driving direction;
respectively plotting out side guide routes to generate an in-out intersection fitting guide map.
8. The intersection fitting guide map compilation method according to claim 7, further comprising:
the intersection fitting guide map is generated through data preprocessing under the online condition.
9. An intersection fitting guide map preparation device, comprising a processor and a memory coupled to the processor, wherein the memory stores a computer program, and the processor is used for executing the computer program to implement the intersection fitting guide map preparation method according to claim 7 or 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein program data for implementing the intersection fit guidance drawing preparation method according to claim 7 or 8 when being executed by a processor.
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